# Steering Wheel
float32 steering_wheel_angle_cmd        # rad, range -9.6 to 9.6
float32 steering_wheel_angle_velocity   # rad/s, range 0 to 17.5, 0 = maximum
float32 steering_wheel_torque_cmd       # Nm, range -8.0 to 8.0
uint8 cmd_type

# Enable
bool enable

# Clear driver overrides
bool clear

# Ignore driver overrides
bool ignore

# Disable the driver override audible warning
bool quiet

# Watchdog counter (optional)
uint8 count

# Command types
uint8 CMD_ANGLE=0
uint8 CMD_TORQUE=1

# Maximum values
float32 ANGLE_MAX=9.6     # rad, maximum angle
float32 VELOCITY_MAX=17.5 # rad/s, maximum velocity
float32 TORQUE_MAX=8.0    # Nm, maximum torque
